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rtmlaunch_nxc100_log_no-tf_20131028

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Oct 28th, 2013
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  1. $ roslaunch nextage_ros_bridge nextage_ros_bridge.launch nameserver:=192.168.120.102 MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl
  2. [31mWARNING: unrecognized tag rtconnect
  3. WARNING: unrecognized tag rtconnect
  4. WARNING: unrecognized tag rtconnect
  5. WARNING: unrecognized tag rtconnect
  6. WARNING: unrecognized tag rtconnect
  7. WARNING: unrecognized tag rtconnect
  8. WARNING: unrecognized tag rtconnect
  9. WARNING: unrecognized tag rtconnect
  10. WARNING: unrecognized tag rtconnect
  11. WARNING: unrecognized tag rtconnect
  12. WARNING: unrecognized tag rtactivate
  13. WARNING: unrecognized tag rtactivate
  14. WARNING: unrecognized tag rtactivate
  15. WARNING: unrecognized tag rtactivate
  16. WARNING: unrecognized tag rtactivate
  17. WARNING: unrecognized tag rtactivate
  18. duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R)
  19. duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L)
  20. [ INFO] [1383008122.509830977]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0
  21. duplicated sensor Id is specified(id = 0, name = CAMERA_HEAD_R)
  22. duplicated sensor Id is specified(id = 1, name = CAMERA_HEAD_L)
  23. [ERROR] [1383008122.654160749]: Target Node visual1/node_joint0_axis0 NOT found!!!
  24. [rtmlaunch] starting... /home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
  25. [rtmlaunch] RTCTREE_NAMESERVERS 192.168.120.102:15005 192.168.120.102:15005
  26. [rtmlaunch] SIMULATOR_NAME HiroNX(Robot)0
  27. [rtmlaunch] check connection/activation
  28. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 0 /30
  29. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 1 /30
  30. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 2 /30
  31. [sensor_ros_bridge_connect.py] start
  32. configuration ORB with 130s-serval : 15005
  33. [sensor_ros_bridge_connect.py] wait for RTCmanager : 192.168.120.102
  34. [sensor_ros_bridge_connect.py] wait for HiroNX(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x2e9b368> (timeout 0 < 10)
  35. [sensor_ros_bridge_connect.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x2e9b368>
  36. [sensor_ros_bridge_connect.py] simulation_mode : False
  37. [sensor_ros_bridge_connect.py] wait for HrpsysSeqStateROSBridge0 : <hrpsys.rtm.RTcomponent instance at 0x2e9c758>
  38. [sensor_ros_bridge_connect.py] bodyinfo URL = file:///opt/jsk/etc/HIRONX/model/main.wrl
  39. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 3 /30
  40. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 4 /30
  41. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 5 /30
  42. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 6 /30
  43. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 7 /30
  44. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 8 /30
  45. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 9 /30
  46. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 10 /30
  47. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 11 /30
  48. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 12 /30
  49. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 13 /30
  50. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 14 /30
  51. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 15 /30
  52. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 16 /30
  53. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 17 /30
  54. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 18 /30
  55. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 19 /30
  56. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 20 /30
  57. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 21 /30
  58. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 22 /30
  59. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 23 /30
  60. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 24 /30
  61. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 25 /30
  62. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 26 /30
  63. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 27 /30
  64. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 28 /30
  65. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 29 /30
  66. [rtmlaunch] [ERROR] Could not Connect : No such object: /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 
  67. [rtmlaunch] Activate <- Inactive /192.168.120.102:15005/HrpsysSeqStateROSBridge0.rtc
  68. [rtmlaunch] Activate <- Inactive /192.168.120.102:15005/HrpsysJointTrajectoryBridge0.rtc
  69. omniORB: ERROR -- the application attempted to invoke an operation
  70. on a nil reference.
  71. [ INFO] [1383008122.166499706]: [HrpsysJointTrajectoryBridge] @Initilize name : HrpsysJointTrajectoryBridge0 done
  72. [ INFO] [1383008158.147564479]: ADD_GROUP: larm (/larm_controller)
  73. [ INFO] [1383008158.147703796]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5
  74. [HrpsysJointTrajectoryBridge] CORBA::SystemException INV_OBJREF
  75. [rtmlaunch] Activate <- Inactive /192.168.120.102:15005/DataLoggerServiceROSBridge.rtc
  76. [rtmlaunch] Activate <- Inactive /192.168.120.102:15005/SequencePlayerServiceROSBridge.rtc
  77. [rtmlaunch] Activate <- Inactive /192.168.120.102:15005/ForwardKinematicsServiceROSBridge.rtc
  78. [rtmlaunch] Activate <- Inactive /192.168.120.102:15005/StateHolderServiceROSBridge.rtc
  79. omniORB: ERROR -- the application attempted to invoke an operation
  80. on a nil reference.
  81. [ INFO] [1383008159.182146706]: ADD_GROUP: rarm (/rarm_controller)
  82. [ INFO] [1383008159.182192984]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5
  83. [HrpsysJointTrajectoryBridge] CORBA::SystemException INV_OBJREF
  84. omniORB: ERROR -- the application attempted to invoke an operation
  85. on a nil reference.
  86. [ INFO] [1383008160.197115281]: ADD_GROUP: head (/head_controller)
  87. [ INFO] [1383008160.197150794]: JOINT: HEAD_JOINT0 HEAD_JOINT1
  88. [HrpsysJointTrajectoryBridge] CORBA::SystemException INV_OBJREF
  89. omniORB: ERROR -- the application attempted to invoke an operation
  90. on a nil reference.
  91. [ INFO] [1383008161.217910878]: ADD_GROUP: torso (/torso_controller)
  92. [ INFO] [1383008161.217941286]: JOINT: CHEST_JOINT0
  93. [HrpsysJointTrajectoryBridge] CORBA::SystemException INV_OBJREF
  94. omniORB: ERROR -- the application attempted to invoke an operation
  95. on a nil reference.
  96. [ INFO] [1383008162.246862828]: ADD_GROUP: larm_torso (/larm_torso_controller)
  97. [ INFO] [1383008162.247029293]: JOINT: LARM_JOINT0 LARM_JOINT1 LARM_JOINT2 LARM_JOINT3 LARM_JOINT4 LARM_JOINT5 CHEST_JOINT0
  98. [HrpsysJointTrajectoryBridge] CORBA::SystemException INV_OBJREF
  99. omniORB: ERROR -- the application attempted to invoke an operation
  100. on a nil reference.
  101. [ INFO] [1383008163.283983009]: ADD_GROUP: rarm_torso (/rarm_torso_controller)
  102. [ INFO] [1383008163.284031496]: JOINT: RARM_JOINT0 RARM_JOINT1 RARM_JOINT2 RARM_JOINT3 RARM_JOINT4 RARM_JOINT5 CHEST_JOINT0
  103. [HrpsysJointTrajectoryBridge] CORBA::SystemException INV_OBJREF
  104. [rtmlaunch] check connection/activation
  105. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 0 /30
  106. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 1 /30
  107. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 2 /30
  108. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 3 /30
  109. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 4 /30
  110. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 5 /30
  111. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 6 /30
  112. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 7 /30
  113. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 8 /30
  114. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 9 /30
  115. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 10 /30
  116. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 11 /30
  117. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 12 /30
  118. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 13 /30
  119. [rtmlaunch] Wait for /192.168.120.102:15005/HiroNX(Robot)0.rtc:q 14 /30
  120. Traceback (most recent call last):
  121. File "/home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 180, in <module>
  122. main()
  123. File "/home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 170, in main
  124. rtconnect(nameserver, parser.getElementsByTagName("rtconnect"))
  125. File "/home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 76, in rtconnect
  126. wait_component(source_full_path)
  127. File "/home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 36, in wait_component
  128. time.sleep(1)
  129. KeyboardInterrupt
  130. Traceback (most recent call last):
  131. File "/home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 81, in <module>
  132. rtc_init()
  133. File "/home/rospasta/ROS/catkinws/src/rtm-ros-robotics/rtmros_common/hrpsys_ros_bridge/scripts/hrpsys_profile.py", line 25, in rtc_init
  134. time.sleep(1);
  135. KeyboardInterrupt
  136. [ INFO] [1383008185.117525935]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm
  137. [ INFO] [1383008185.125789844]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm
  138. [ INFO] [1383008185.144456465]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (head
  139. [ INFO] [1383008185.164399648]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (torso
  140. [ INFO] [1383008185.171029184]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (larm_torso
  141. [ INFO] [1383008185.177860019]: [HrpsysJointTrajectoryBridge0] @~jointTrajectoryActionObj (rarm_torso
  142. [ INFO] [1383008122.612109842]: [HrpsysSeqStateROSBridge] Loaded HiroNX
  143. [ INFO] [1383008122.614414473]: [HrpsysSeqStateROSBridge] @Initilize name : HrpsysSeqStateROSBridge0 done
  144. [ WARN] [1383008158.024408984]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
  145. [ WARN] [1383008163.024928683]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
  146. [ WARN] [1383008168.025270117]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
  147. [ WARN] [1383008173.025787763]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
  148. [ WARN] [1383008178.026160319]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
  149. [ WARN] [1383008183.026574335]: [HrpsysSeqStateROSBridge0] @onExecutece 0 is not executed last 5[sec]
  150. [ INFO] [1383008185.216778389]: [HrpsysSeqStateROSBridge] @onFinalize : HrpsysSeqStateROSBridge0
  151. ... logging to /home/n130s/.ros/log/c8801a02-4034-11e3-a9a9-0090f5bd194f/roslaunch-130s-serval-11309.log
  152. Checking log directory for disk usage. This may take awhile.
  153. Press Ctrl-C to interrupt
  154. Done checking log file disk usage. Usage is <1GB.
  155. ]2;/home/rospasta/ROS/catkinws/src/tork-a/iros13/rtmros_nextage/nextage_ros_bridge/launch/nextage_ros_bridge.launch
  156. started roslaunch server http://130s-serval:34977/
  157.  
  158. SUMMARY
  159. ========
  160.  
  161. PARAMETERS
  162. * /controller_configuration
  163. * /diagnostic_aggregator/analyzers/computers/contains
  164. * /diagnostic_aggregator/analyzers/computers/path
  165. * /diagnostic_aggregator/analyzers/computers/type
  166. * /diagnostic_aggregator/analyzers/hrpsys/contains
  167. * /diagnostic_aggregator/analyzers/hrpsys/path
  168. * /diagnostic_aggregator/analyzers/hrpsys/type
  169. * /diagnostic_aggregator/analyzers/mode/contains
  170. * /diagnostic_aggregator/analyzers/mode/path
  171. * /diagnostic_aggregator/analyzers/mode/type
  172. * /diagnostic_aggregator/analyzers/motor/contains
  173. * /diagnostic_aggregator/analyzers/motor/path
  174. * /diagnostic_aggregator/analyzers/motor/type
  175. * /diagnostic_aggregator/base_path
  176. * /diagnostic_aggregator/pub_rate
  177. * /robot_description
  178. * /rosdistro
  179. * /rosversion
  180.  
  181. NODES
  182. /
  183. DataLoggerServiceROSBridge (hrpsys_ros_bridge/DataLoggerServiceROSBridgeComp)
  184. ForwardKinematicsServiceROSBridge (hrpsys_ros_bridge/ForwardKinematicsServiceROSBridgeComp)
  185. HrpsysJointTrajectoryBridge (hrpsys_ros_bridge/HrpsysJointTrajectoryBridge)
  186. HrpsysSeqStateROSBridge (hrpsys_ros_bridge/HrpsysSeqStateROSBridge)
  187. SequencePlayerServiceROSBridge (hrpsys_ros_bridge/SequencePlayerServiceROSBridgeComp)
  188. StateHolderServiceROSBridge (hrpsys_ros_bridge/StateHolderServiceROSBridgeComp)
  189. diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
  190. hrpsys_profile (hrpsys_ros_bridge/hrpsys_profile.py)
  191. hrpsys_ros_diagnostics (hrpsys_ros_bridge/diagnostics.py)
  192. hrpsys_state_publisher (robot_state_publisher/state_publisher)
  193. rtmlaunch_hrpsys_ros_bridge (openrtm_tools/rtmlaunch.py)
  194. sensor_ros_bridge_connect (hrpsys_ros_bridge/sensor_ros_bridge_connect.py)
  195.  
  196. auto-starting new master
  197. process[master]: started with pid [11324]
  198. ROS_MASTER_URI=http://localhost:11311
  199. ]2;/home/rospasta/ROS/catkinws/src/tork-a/iros13/rtmros_nextage/nextage_ros_bridge/launch/nextage_ros_bridge.launch http://localhost:11311
  200. setting /run_id to c8801a02-4034-11e3-a9a9-0090f5bd194f
  201. process[rosout-1]: started with pid [11338]
  202. started core service [/rosout]
  203. process[HrpsysSeqStateROSBridge-2]: started with pid [11350]
  204. process[HrpsysJointTrajectoryBridge-3]: started with pid [11375]
  205. process[hrpsys_state_publisher-4]: started with pid [11393]
  206. process[hrpsys_ros_diagnostics-5]: started with pid [11424]
  207. process[hrpsys_profile-6]: started with pid [11433]
  208. process[diagnostic_aggregator-7]: started with pid [11447]
  209. process[sensor_ros_bridge_connect-8]: started with pid [11504]
  210. process[rtmlaunch_hrpsys_ros_bridge-9]: started with pid [11530]
  211. process[SequencePlayerServiceROSBridge-10]: started with pid [11538]
  212. process[DataLoggerServiceROSBridge-11]: started with pid [11586]
  213. process[ForwardKinematicsServiceROSBridge-12]: started with pid [11609]
  214. process[StateHolderServiceROSBridge-13]: started with pid [11633]
  215. [sensor_ros_bridge_connect-8] process has finished cleanly
  216. log file: /home/n130s/.ros/log/c8801a02-4034-11e3-a9a9-0090f5bd194f/sensor_ros_bridge_connect-8*.log
  217. [StateHolderServiceROSBridge-13] killing on exit
  218. [ForwardKinematicsServiceROSBridge-12] killing on exit
  219. [DataLoggerServiceROSBridge-11] killing on exit
  220. [SequencePlayerServiceROSBridge-10] killing on exit
  221. [rtmlaunch_hrpsys_ros_bridge-9] killing on exit
  222. [hrpsys_profile-6] killing on exit
  223. [hrpsys_ros_diagnostics-5] killing on exit
  224. [hrpsys_state_publisher-4] killing on exit
  225. [diagnostic_aggregator-7] killing on exit
  226. [HrpsysJointTrajectoryBridge-3] killing on exit
  227. [HrpsysSeqStateROSBridge-2] killing on exit
  228. [rosout-1] killing on exit
  229. [master] killing on exit
  230. shutting down processing monitor...
  231. ... shutting down processing monitor complete
  232. done
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